This paper proposes objects-to-sense-with as tools that provide sensory-based learning of space and expand spatial knowledge beyond merely the formal and visual aspects currently dominant in design discourse. To reintroduce sensory-based learning methods in architecture education, this paper first revisits the sensory pedagogies formulated in the early 20th century, reviews precedents in the arts that utilize body-centered sensing technologies, and reframes previous discussions on the pedagogical role of technologies as tools for thinking. Finally, this paper describes the development of a wearable tool with embedded sensors created by the author and describes how the results are visualized. The developed tool, which is used to record sensory data in-situ by the user and allows for a body-centered representation of space, serves as an example of an object-to-sense-with that can be used to achieve a sensory-based and body-centered understanding of architecture.